JP5460638B2 - Pulse radar apparatus and control method thereof - Google Patents

Description

  The present invention relates to a radar apparatus, and more particularly to an on-vehicle device that measures a distance to an object by measuring a round trip time until a pulse signal is emitted from the apparatus, reflected by an object, and received again by the apparatus. The present invention relates to a pulse radar device and a control method thereof.

  A general pulse radar device modulates a high-frequency carrier wave and cuts out a carrier frequency for a very short time, thereby generating a pulse-shaped transmission signal and a transmission signal generated by the high-frequency transmission unit as a radio wave. As a transmitting antenna that radiates into the space, a receiving antenna that receives the reflected wave that is reflected by the object reflected from the transmitting antenna, and receives the received signal from the receiving antenna and down-converts it to a baseband signal And a baseband unit that inputs a baseband signal from the high-frequency receiving unit and calculates a distance to the object and the like.

  The high-frequency transmission unit includes an oscillator that generates a carrier wave having a predetermined frequency, a switch that cuts out the carrier wave generated by the oscillator in a pulse shape, and the like. The high-frequency receiving unit includes a correlator that correlates the transmission signal and the reception signal, and an IQ mixer that down-converts the output signal of the correlator into a baseband signal. The baseband unit includes an A / D conversion unit that converts a baseband signal from the high-frequency receiving unit from an analog signal to a digital signal, and a digital signal from the A / D conversion unit to process the distance to the target and the target A digital signal processing unit for calculating the relative velocity of the signal and a control unit for controlling the pulse radar device. The control unit controls on / off of the switch of the high frequency transmission unit and the correlator of the high frequency reception unit.

  As described above, the pulse radar device includes a high-frequency transmission unit and a high-frequency reception unit that process high-frequency signals (hereinafter, both are collectively referred to as an RF unit), and a baseband unit that processes low-frequency signals. Yes. Of these, since it is necessary to use an expensive substrate that can handle high frequencies, the RF unit has conventionally been arranged on a substrate that can handle high frequencies in order to reduce costs. Is generally placed on a low-cost substrate. Further, as a means for connecting the RF portion and the baseband portion arranged on different substrates, a multi-pin connector having a smaller size and lower cost than the conventional one is used.

  As described above, when the baseband part and the RF part formed on different substrates are connected by an inexpensive and aggregated multi-pin connector, the control signal leaks into the received signal as an interference noise signal. There was a problem. In this way, in the multi-pin connector, if an unnecessary wave such as a control signal that occurs secondarily leaks into the received signal and becomes an interference noise signal, the interference noise is not obtained when sufficient reception intensity cannot be obtained. There is a problem that a desired received signal is buried in the signal. Therefore, conventionally, it is possible to detect even a received signal having a low reception intensity by increasing the isolation between the multi-pins as much as possible to reduce the signal amount of the interference noise signal.

  Furthermore, although such interference noise signals have different generation factors, they also exist in various radar devices, and there is a technique for removing the interference noise signals. Patent Document 1 discloses an interference noise signal reduction process for a stationary noise component (a noise component with a small frequency and level temporal variation) superimposed on a reception signal in an FM-CW radar. A stationary noise component is stored, and an object is detected by subtracting it from the spectrum distribution of the received signal.

JP-A-7-151852

  However, in-vehicle radars are often mounted on a small board, and there is a problem that it is very difficult to ensure sufficient isolation between pins of the multi-pin connector. In addition, in order to prevent interference between signals, each signal line can be connected by a completely independent coaxial line, but a plurality of coaxial lines are used for connection between the RF unit and the baseband unit. As a result, the cost is high and the handling of the mechanism is complicated, which makes it difficult to manufacture.

  In the case of a pulse radar device, in particular, when a correlator is used on the receiving side, the signal emitted from the oscillator passes through the IQ mixer of the high-frequency receiving unit, is reflected by the correlator, and is downconverted again by the IQ mixer. There is also a problem that self-mixing noise occurs. In particular, since a signal from a far object has a small amplitude level, it may be hidden by the interference noise signal or the self-mixing noise.

  Furthermore, the technique disclosed in Patent Document 1 has a problem that it cannot be applied to an interference noise signal having a level higher than that of the received signal because it is a method of subtracting a low level interference noise signal.

  The present invention has been made in view of the above problems, and by generating a replica signal of a noise signal and removing it from the received signal, the received signal strength can be reduced while reducing the size of the apparatus using a multi-pin connector. An object of the present invention is to provide a pulse radar apparatus and a control method therefor that can reduce interference noise signals exceeding the threshold and detect information on an object with high accuracy.

  In order to solve the above-described problem, a first aspect of the pulse radar apparatus of the present invention includes an oscillator that generates a carrier wave having a predetermined frequency, and cuts the carrier wave in a pulse shape according to two or more transmission control signals. A high-frequency transmission unit that generates a transmission signal when all of the above transmission control signals are output, a transmission antenna that inputs the transmission signal from the high-frequency transmission unit and radiates it as a radio wave, and the radio wave A reception antenna that receives a reflected wave reflected by an object, a high-frequency reception unit that inputs a reception signal from the reception antenna, correlates with the transmission signal according to a reception control signal, and converts it into a baseband signal; An A / D converter that inputs the baseband signal and converts it to a digital signal, and inputs the digital signal from the A / D converter to the object A digital signal processing unit that calculates a distance and / or a relative speed of the object and / or an azimuth angle of the object; and outputs the transmission control signal to the high-frequency transmission unit and sends the reception control signal to the high-frequency signal. A baseband unit having a control unit that outputs to the receiving unit, and the digital signal processing unit does not output part or all of the two or more transmission control signals from the control unit, When the transmission control signal and the reception control signal are output, a digital signal output from the A / D conversion unit is acquired as a first background signal, and part or all of the digital signal is output from the control unit. The digital signal output from the A / D converter when only the transmission control signal is output is acquired as the second background signal, and the first A replica signal is calculated by adding a background signal and the second background signal, and all of the two or more transmission control signals and the reception control signal are output from the control unit and from the oscillator When a carrier wave is output, a low noise signal is calculated by subtracting the replica signal from a digital signal output from the A / D converter, and a distance to the object is calculated based on the low noise signal And / or calculating a relative velocity of the object and / or an azimuth angle of the object.

  According to another aspect of the pulse radar apparatus of the present invention, the carrier wave from the oscillator is output when the first background signal is acquired, and the carrier wave output from the oscillator is acquired when the second background signal is acquired. Is stopped.

  Another aspect of the pulse radar apparatus of the present invention is characterized in that a carrier wave from the oscillator is output both when the first background signal is acquired and when the second background signal is acquired. .

  In another aspect of the pulse radar apparatus of the present invention, the digital signal processing unit performs a Fourier transform process on the digital signal input from the A / D conversion unit, and the control unit controls the two or more transmission controls. The replica signal is derived from a Fourier component corresponding to 0 Hz of the digital signal output from the A / D converter when all of the signals and the reception control signal are output and the carrier wave is output from the oscillator. The low noise signal is calculated by subtracting a Fourier component corresponding to 0 Hz.

  In another aspect of the pulse radar apparatus of the present invention, at least the baseband unit is formed on a first substrate, and the high-frequency transmission unit and the high-frequency reception unit are formed on a substrate different from the first substrate. A multi-pin connector for connecting the signal line for transmitting the baseband signal and the control lines for transmitting the two or more transmission control signals and the reception control signal to the energized state collectively. Is provided between the first substrate and the other substrate, and the level of the leakage signal from the control line to the signal line is within the dynamic range of the A / D conversion unit. The connection of the control line and the connection of the signal line are separated from each other.

  In another aspect of the pulse radar apparatus of the present invention, the high-frequency transmission unit includes a first gate unit that extracts the carrier wave in a pulse shape according to a first control signal, and a signal that is extracted by the first gate unit. A second gate unit that further cuts out according to two control signals and generates the transmission signal, and the high-frequency receiving unit inputs the reception signal from the reception antenna and transmits the transmission signal according to a third control signal. And a down-conversion unit that down-converts an output signal from the correlation unit into a baseband and outputs the baseband signal, and the control unit includes the first gate unit, The first control signal, the second control signal, and the third control signal are output to the second gate unit and the correlation unit, respectively, to turn on / off the respective power sources, and the digital The signal processing unit calculates the replica signal using the two or more transmission control signals as the first control signal and the second control signal and using the reception control signal as the third control signal. Characterize.

  In another aspect of the pulse radar apparatus of the present invention, the digital signal processing unit does not output one of the first control signal and the second control signal from the control unit, and outputs the other and the third control signal. The digital signal output from the A / D converter when output is used as the first background signal, and only one of the first control signal and the second control signal is output from the controller. The replica signal is calculated using the digital signal output from the A / D conversion unit as the second background signal.

  In another aspect of the pulse radar apparatus of the present invention, the digital signal processing unit outputs the third control signal without outputting both the first control signal and the second control signal from the control unit. Sometimes the digital signal output from the A / D converter is used as the first background signal, and only both the first control signal and the second control signal are output from the controller. The replica signal is calculated using the digital signal output from the A / D converter as the second background signal.

  According to another aspect of the pulse radar apparatus of the present invention, the carrier wave from the oscillator is output when the first background signal is acquired, and the carrier wave output from the oscillator is acquired when the second background signal is acquired. Is stopped.

  Another aspect of the pulse radar apparatus of the present invention is characterized in that a carrier wave from the oscillator is output both when the first background signal is acquired and when the second background signal is acquired. .

  In another aspect of the pulse radar apparatus of the present invention, the digital signal processing unit outputs the first control signal, the second control signal, and the third control signal from the control unit, and generates a carrier wave from the oscillator. When the output is being performed, the low noise signal is calculated by subtracting the Fourier component corresponding to 0 Hz of the replica signal from the Fourier component corresponding to 0 Hz of the digital signal output from the A / D converter. It is characterized by that.

  In another aspect of the pulse radar device of the present invention, the baseband unit is formed on a low frequency substrate corresponding to an operating frequency band of the baseband unit, and the high frequency transmission unit and the high frequency reception unit A signal line for transmitting the baseband signal, the first control signal, the second control signal, and the third control signal, which are formed on a high frequency substrate corresponding to an operating frequency band of the high frequency transmitter and the high frequency receiver. A connection portion of a multi-pin connector that collectively connects the first control line, the second control line, and the third control line to each other to transmit current between the low-frequency board and the high-frequency board. The connection of the control line and the connection of the signal line are separated in the connection part so that the level of the leakage signal from the control line to the signal line falls within the dynamic range of the A / D conversion part. Arranged And wherein the are.

  A first aspect of the method for controlling a pulse radar apparatus according to the present invention includes a carrier generation step for generating a carrier wave of a predetermined frequency, and a signal for generating a transmission signal by cutting out the carrier wave into a pulse shape according to two or more transmission control signals. A cutting step; a transmitting step for radiating the transmission signal as a radio wave into space; a receiving step for receiving a reflected wave reflected by an object; and a received signal received in the receiving step according to a receiving control signal; A correlation step for correlating with the transmission signal, a down-conversion step for down-converting the output signal of the correlation step to a baseband and outputting a baseband signal, and at least inputting the baseband signal into a digital signal A / D conversion step for conversion, and distance to the object by inputting the digital signal And / or a digital signal processing step for calculating a relative speed of the object and / or an azimuth angle of the object, and in the digital signal processing step, the two or more recording transmissions are performed in the signal extraction step. The digital signal obtained in the A / D conversion step when the control signal for transmission other than that part of the control signal is not output and the control signal for reception is output in the correlation step is output. 1 as a background signal, and a digital signal obtained in the A / D conversion step when only a part or all of the transmission control signals are output in the signal extraction step is obtained as a second background signal. The replica signal is calculated by adding the first background signal and the second background signal. Obtained in the A / D conversion step when all of the two or more transmission control signals are output in the signal extraction step and the reception control signal is output in the correlation step and the carrier wave generation step is performed. The replica signal is subtracted from the digital signal to calculate a low noise signal, and the distance to the target object and / or the relative speed of the target object and / or the azimuth angle of the target object is calculated based on the low noise signal. It is characterized by.

  In another aspect of the control method of the pulse radar device of the present invention, the carrier wave generation step is performed when the first background signal is acquired, and the carrier wave generation step is performed when the second background signal is acquired. It is characterized by not.

  Another aspect of the control method of the pulse radar device according to the present invention is characterized in that the carrier wave generation step is performed both when the first background signal is acquired and when the second background signal is acquired.

  In another aspect of the control method of the pulse radar device of the present invention, the digital signal processing step performs a Fourier transform process on the digital signal converted in the A / D conversion step, and the signal extraction step performs the two or more transmissions. From the Fourier component corresponding to 0 Hz of the digital signal obtained in the A / D conversion step when the entire trust control signal is output and the reception control signal is output in the correlation step and the carrier wave generation step is performed. The low noise signal is calculated by subtracting a Fourier component corresponding to 0 Hz of the replica signal. In the pulse radar device of the present invention, m (m ≧ 2) control signals (hereinafter referred to as transmission control signals) are used to generate transmission signals, and one or more control signals ( Hereinafter, the reception control signal is used. In the following, for ease of explanation, it is assumed that there are two transmission control signals (m = 2) and one reception control signal. However, the present invention is not limited to this, and there may be three or more transmission control signals. There may be two or more reception control signals.

  In another aspect of the control method of the pulse radar apparatus of the present invention, the signal extraction step includes: a first extraction step of extracting the carrier wave in a pulse shape according to a first control signal; and a signal extracted by the first extraction step. A second cut-out step of further cutting out according to the second control signal to generate a transmission signal, wherein in the correlation step, the received signal and the transmission signal are correlated according to the third control signal, and the digital signal processing In the step, the two or more transmission control signals are the first control signal and the second control signal, and the replica signal is calculated using the reception control signal as the third control signal. .

  According to another aspect of the control method of the pulse radar apparatus of the present invention, in the digital signal processing step, one of the first control signal and the second control signal is not output and the other is output in the signal extraction step. The digital signal obtained in the A / D conversion step when the third control signal is output in the correlation step is used as the first background signal, and the first control signal and the second signal are output in the signal extraction step. The replica signal is calculated using the digital signal obtained in the A / D conversion step when only one of the control signals is output as the second background signal.

  According to another aspect of the control method of the pulse radar apparatus of the present invention, in the digital signal processing step, the signal cutting step does not output both the first control signal and the second control signal, and the correlation step The digital signal obtained in the A / D conversion step when the third control signal is output is used as the first background signal, and only both the first control signal and the second control signal are used in the signal extraction step. The replica signal is calculated using the digital signal obtained in the A / D conversion step when output as the second background signal.

  In another aspect of the control method of the pulse radar device of the present invention, the carrier wave generation step is performed when the first background signal is acquired, and the carrier wave generation step is performed when the second background signal is acquired. It is characterized by not.

  Another aspect of the control method of the pulse radar device according to the present invention is characterized in that the carrier wave generation step is performed both when the first background signal is acquired and when the second background signal is acquired.

According to another aspect of the method for controlling the pulse radar apparatus of the present invention, the replica signal is converted to 0 Hz from the Fourier component corresponding to 0 Hz of the digital signal when the first extraction step, the second extraction step, and the correlation step are executed. The low noise signal is calculated by subtracting a Fourier component corresponding to.
In the pulse radar device of the present invention, there are a mode in which a carrier wave is output from an oscillator and a mode in which a carrier wave is not output when creating a replica signal. In addition, the pulse radar apparatus control method of the present invention includes a mode in which a carrier wave is generated by performing a carrier wave generation step when generating a replica signal, and a mode in which a carrier wave is not output without performing a transmission wave generation step.

  ADVANTAGE OF THE INVENTION According to this invention, the pulse radar apparatus which can detect the information of a target object with high precision by producing | generating the replica signal of a noise signal and removing it from a received signal can be provided. .

It is a block diagram which shows the structure of the pulse radar apparatus which concerns on 1st Embodiment of this invention. It is a time waveform figure of a signal when there is no influence of noise. It is a time waveform figure of the signal in which the signal of the unnecessary wave was mixed. It is the enlarged view which expanded and displayed the control line and signal line of the pulse radar apparatus which concern on 1st Embodiment of this invention. It is a time waveform figure of a noise signal when not outputting a control signal to the 1st gate part of a pulse radar device concerning a 1st embodiment of the present invention. It is a time waveform figure of a noise signal when outputting a control signal only to the 1st gate part of a pulse radar device concerning a 1st embodiment of the present invention. It is a time waveform figure of a replica signal created by a pulse radar device concerning a 1st embodiment of the present invention. It is a flowchart which shows the signal processing method by the pulse radar apparatus which concerns on 1st Embodiment of this invention. It is a time waveform figure of a noise signal when outputting a control signal only to the 1st gate part and the 2nd gate part of a pulse radar device concerning a 2nd embodiment of the present invention. It is a time waveform figure of a noise signal when not outputting a control signal only to the 1st gate part and the 2nd gate part of a pulse radar device concerning a 2nd embodiment of the present invention. It is a flowchart which shows the processing method of the signal by the pulse radar apparatus which concerns on 2nd Embodiment of this invention. It is a block diagram which shows the structure of the pulse radar apparatus which concerns on 3rd Embodiment of this invention.

  A pulse radar device and a control method thereof according to a preferred embodiment of the present invention will be described in detail with reference to the drawings. Each component having the same function is denoted by the same reference numeral for simplification of illustration and description.

  The pulse radar device of the present invention has an oscillator that generates a carrier wave of a predetermined frequency, and a high-frequency transmission unit that generates a transmission signal by cutting out the carrier wave generated by the oscillator in a pulse shape according to two or more transmission control signals; A transmission antenna that inputs a transmission signal from a high-frequency transmission unit and radiates it as a radio wave into the space, a reception antenna that receives a reflected wave reflected from the object by the radio wave radiated into the space, and a reception signal from the reception antenna And a high-frequency receiving unit that takes a correlation with the transmission signal according to the reception control signal and converts it into a baseband signal. Also, an A / D converter that inputs a baseband signal and converts it into a digital signal, and a distance to the object and / or a relative speed of the object and / or an object that receives the digital signal from the A / D converter. A baseband unit having a digital signal processing unit for calculating an azimuth angle of the object, and a control unit for outputting a control signal for transmission to the high-frequency transmission unit and outputting a control signal for reception to the high-frequency reception unit. Yes.

  In the digital signal processing unit, a part or all of two or more transmission control signals are not output from the control unit, the other transmission control signals and the reception control signal are output, and the carrier wave is output from the oscillator. The digital signal output from the A / D converter when it is connected is acquired as the first background signal. In addition, the digital signal output from the A / D converter when the control unit outputs only a part or all of the transmission control signals and the output of the carrier wave from the oscillator is stopped, Obtained as a background signal. Then, a replica signal is calculated by adding the first background signal and the second background signal.

  When the replica signal is calculated, the control unit outputs all of the two or more transmission control signals and the reception control signal, and outputs from the A / D conversion unit when the carrier wave is output from the oscillator. The low-noise signal is calculated by subtracting the replica signal from the digital signal. Based on the low noise signal, the distance to the object and / or the relative speed of the object and / or the azimuth angle of the object are calculated.

  The digital signal processing unit can perform a Fourier transform process on the digital signal input from the A / D conversion unit, and all of the control signal for transmission and the control signal for reception are output from the control unit and the carrier wave from the oscillator is output. The low noise signal is calculated by subtracting the Fourier component corresponding to 0 Hz of the replica signal from the Fourier component corresponding to 0 Hz of the digital signal output from the A / D conversion unit.

  As a configuration of the pulse radar device, at least the baseband portion can be formed on a first substrate, and the high-frequency transmitter and the high-frequency receiver can be formed on a substrate different from the first substrate. In this case, the connection part of the multi-pin connector that connects the signal line for transmitting the baseband signal and the respective control lines for transmitting two or more transmission control signals and reception control signals to the energized state collectively. It can be provided between the first substrate and another substrate. At this time, the signal line and the control line are arranged as far as possible so as to obtain isolation.

  The pulse radar apparatus control method according to the present invention includes a carrier generation step for generating a carrier wave of a predetermined frequency, and a signal extraction step for generating a transmission signal by cutting the carrier wave into pulses according to two or more transmission control signals. A transmission step for radiating a transmission signal as a radio wave to space, a reception step for receiving a reflected wave reflected by an object, and a reception signal received in the reception step according to a reception control signal; A correlation step for correlating with the transmission signal, a down-conversion step for down-converting the output signal of the correlation step to baseband and outputting a baseband signal, and an A / D for inputting the baseband signal and converting it into a digital signal The conversion step, the distance to the object and / or the relative speed of the object Or has a digital signal processing step of calculating the azimuth angle of the object, the.

  In the digital signal processing step, some or all of the two or more transmission control signals are not output in the signal extraction step, but other transmission control signals are output, and the reception control signal is output in the correlation step, and the carrier wave When the generation step is performed, the digital signal obtained in the A / D conversion step is acquired as the first background signal, and only a part or all of the above transmission control signals are output in the signal extraction step and the carrier wave is generated. When the step is not performed, the digital signal obtained in the A / D conversion step is acquired as the second background signal. Then, a replica signal is calculated by adding the first background signal and the second background signal.

  When the replica signal is calculated, the digital signal obtained in the A / D conversion step when the transmission control signal is output in the signal extraction step, the reception control signal is output in the correlation step, and the carrier wave generation step is performed. The low noise signal is calculated by subtracting the replica signal from the signal, and the distance to the object and / or the relative speed of the object and / or the azimuth angle of the object are calculated based on the low noise signal.

  In the above digital signal processing step, the digital signal converted in the A / D conversion step can be subjected to Fourier transform processing. In this case, all of the transmission control signals are output and correlated in the signal extraction step. By subtracting the Fourier component corresponding to 0 Hz of the replica signal from the Fourier component corresponding to 0 Hz of the digital signal obtained in the A / D conversion step when the reception control signal is output in the step and the carrier wave generation step is performed. Calculate a low noise signal.

(First embodiment)
A pulse radar apparatus according to a first embodiment of the present invention will be described below with reference to FIG. FIG. 1 is a block diagram illustrating a configuration of a pulse radar device 100 according to the present embodiment. In FIG. 1, a pulse radar device 100 includes a high-frequency transmitter 110 and a high-frequency receiver 120 that process high-frequency signals, a baseband unit 130 that processes low-frequency signals, and a transmission antenna 101 that radiates radio waves into space. A receiving antenna 102 for receiving the reflected wave reflected by the object. Hereinafter, for ease of explanation, an object to be detected by the pulse radar device 100 is indicated by a symbol T.

  The high-frequency transmission unit 110 generates an oscillator 111 that generates a predetermined high-frequency signal (carrier wave) that is a generation source of an electromagnetic wave transmission signal, and a high-frequency signal generated by the oscillator 111 is a pulse signal (pulse signal) having a predetermined time width. ), A first gate portion 112 and a second gate portion 113 cut out. The first gate unit 112 and the second gate unit 113 are circuits that cut out a high-frequency signal input from the oscillator 111 into a pulse signal having a width of 1 [ns], for example, and a multiplier or a switch can be used. By using two signal extraction circuits of the first gate unit 112 and the second gate unit 113, a sharply shaped pulse signal can be generated. The pulse-shaped transmission signal output from the second gate unit 113 is transmitted to the transmission antenna 101 and radiated from the transmission antenna 101 into the air as a radio wave.

  The high-frequency receiving unit 120 receives a reception signal received by the reception antenna 102 and correlates it with a transmission signal, and down-converts a signal output from the correlator 121 with a carrier wave input from the oscillator 111. IQ mixer 122 is provided. The IQ mixer 122 includes a first mixer 123 for down-converting to an I-component baseband signal, a second mixer 124 for down-converting to a Q-component baseband signal, and a carrier wave input from the oscillator 111 by 90 degrees. A phase shifter 125 that adds a phase difference and outputs the phase difference to the first mixer 123 and the second mixer 124 is provided. The correlator 121 extracts a signal for each measurement distance from the received signal and outputs it to the first mixer 123 and the second mixer 124.

  The baseband unit 130 includes an A / D conversion unit 131 that inputs an I component and a Q component of the baseband signal down-converted by the first mixer 123 and the second mixer 124 and converts them into a digital signal, and an A / D conversion The digital signal from the unit 131 is subjected to complex signal processing (complex Fourier transform (FFT)) to calculate information on the target T, and a control unit that controls the operation of the pulse radar device 100 133 and a storage unit 134. The control unit 133 performs on / off control of the power sources of the first gate unit 112, the second gate unit 113, and the correlator 121, which are high-frequency components, and the first gate unit 112 and the second gate unit 113 are controlled. When both power supplies are turned on, a transmission signal is output from the high frequency transmission unit 110. The control signal generated by the control unit 133 is a signal having a width of 1 [ns].

  In the pulse radar device 100 of the present embodiment configured as described above, each component constituting the high-frequency transmitter 110 and the high-frequency receiver 120 operates at a frequency of several tens of GHz band, whereas the baseband unit 130 is provided. Each component to be operated operates at a frequency of at most about 2 GHz. As described above, since the operating frequency of the high-frequency transmitting unit 110 and the high-frequency receiving unit 120 and the operating frequency of the baseband unit 130 are greatly different, it is preferable to form them on separate substrates designed for the respective frequency bands. . In the present embodiment, the high frequency transmitter 110 and the high frequency receiver 120 are formed on the high frequency substrate 103, and the baseband unit 130 is formed on the low frequency substrate 104. Further, the transmitting antenna 101 and the receiving antenna 102 that transmit and receive a high-frequency signal are also disposed on the high-frequency substrate 103.

  Since the substrate used for high frequency is more expensive than the substrate for low frequency, in this embodiment, the high frequency transmission unit 110, the high frequency reception unit 120, the transmission antenna 101, and the reception antenna 102 are provided on the expensive high frequency substrate 103. The baseband unit 130 that processes only low frequency signals and is disposed on the low-frequency low-frequency substrate 104. Thereby, the cost reduction of the pulse radar apparatus 100 can be aimed at.

  As described above, in order to divide each component of the pulse radar device 100 into the high frequency substrate 103 and the low frequency substrate 104, the components on the high frequency substrate 103 and the components on the low frequency substrate 104 are arranged. A means for electrical connection is required. In the pulse radar device 100 of the present embodiment, a low-priced and small multi-pin connector 105 that has been conventionally used is used. A control signal output from the control unit 133 on the low-frequency substrate 104 is transmitted to the high-frequency transmission unit 110 and the high-frequency reception unit 120 on the high-frequency substrate 103 via the connector 105, and the high-frequency on the high-frequency substrate 103 is transmitted. The baseband signal output from the receiving unit 120 is transmitted to the baseband unit 130 on the low frequency substrate 104 via the connector 105.

  As described above, when the control signal and the baseband signal are transferred between the high-frequency substrate 103 and the low-frequency substrate 104 using the conventional multi-pin connector 105, the signal intensity having information on the object T is obtained. The interference noise signal from the control signal is mixed into the low baseband signal. Further, the self-mixing noise generated by the carrier wave output from the oscillator 111 being reflected by the correlator 121 through the IQ mixer 122 and down-converted again by the IQ mixer 122 is also mixed into the baseband signal. In particular, when the object T is far away, the amplitude level of the reflected signal from the object T becomes small, and thus there is a possibility of being hidden by the interference noise signal or the self-mixing noise.

  Therefore, in the pulse radar device 100 of the present embodiment, a replica signal of unnecessary waves such as noise mixed in the baseband signal passing through the connector 105 is created in advance, and the baseband signal is detected when the target T is detected. The replica signal is removed. An example of the unnecessary wave replica signal will be described with reference to FIGS. FIG. 2 shows the signal 10 radiated from the transmission antenna 101 by the pulse signal generated by the high-frequency transmission unit 110, the reflected wave reflected by the object T received by the reception antenna 102, and processed by the digital signal processing unit 132. It is a time waveform figure which shows an example (in addition, the horizontal axis represents the distance corresponding to time. Hereinafter, it is the same also in FIG. 3, FIG. 6-9). The waveform of the signal 10 shown in the figure is a waveform when not affected by noise. FIG. 3 is a time waveform diagram when the above-described unnecessary wave signal is mixed in the signal 10 shown in FIG. The signal 11 is a schematic representation of an interference noise signal mixed into the baseband signal by the connector 105, and the signal 12 is a schematic representation of self-mixing noise.

  In the present embodiment, an unnecessary wave replica signal obtained by combining the interference noise signal 11 and the self-mixing signal 12 shown in FIG. 3 is created in advance and stored in the storage unit 134. When the pulse radar apparatus 100 is operated to detect the target T, the received signal is processed by the high frequency receiving unit 120 and output to the baseband unit 130 via the connector 105, and the digital signal processing unit 132 A signal (low noise signal) as shown in FIG. 2 is obtained by subtracting the replica signal from the processed signal. Hereinafter, a method for creating the replica signal in advance will be described in detail with reference to the drawings.

  In FIG. 1, a control signal (first control signal) output from the control unit 133 to the first gate unit 112 and a control line (first control line) for transmitting the control signal are denoted by A and a, respectively. A control signal (second control signal) output to the two-gate unit 113 and a control line (second control line) transmitting the control signal are denoted by B and b, respectively, and a control signal output from the control unit 133 to the correlator 121 ( A third control signal) and a control line (third control line) that transmits the third control signal are denoted by C and c, respectively. The control signals A and B perform on / off control of the power of the first gate unit 112 and the second gate unit 113, respectively, and the control signal C performs on / off control of the power of the correlator 121. Here, the transmission control signal is two of the first control signal and the second control signal, and the reception control signal is one of the third control signals. In the pulse radar apparatus and the control method thereof according to the present invention, the numbers of transmission control signals and reception control signals are not limited to those described above, and there may be more control signals.

  In addition, the baseband signal (I component) output from the first mixer 123 of the IQ mixer 122 to the A / D converter 131 and the signal line that transmits the baseband signal are D and d, respectively, and the A / D from the second mixer 124. Let E and e be the baseband signal (Q component) output to the converter 131 and the signal line that transmits it. The control lines a, b, and c and the signal lines d and e all pass through different pins of the connector 105.

  In the pulse radar apparatus 100, control signals A and B are output from the control unit 133 to the first gate unit 112 and the second gate unit 113 at appropriate timings via the control lines a and b, and the power sources thereof are approximately 1 [ ns], the carrier wave generated by the oscillator 111 is cut out to a pulse width of 1 [ns]. As a result, a 1 [ns] -width pulse transmission signal using a carrier wave having a predetermined frequency is generated, and is transmitted to the transmission antenna 101 to be radiated into the air as a radio wave. The radiated radio wave is reflected by the object T located at a position separated by the distance L and received by the receiving antenna 102.

  When the control signal C is output from the control unit 133 to the correlator 121 at a predetermined timing via the control line c, the power of the correlator 121 is turned on and the received signal and the transmission signal received by the receiving antenna 102 are Correlation is taken. The signal output from the correlator 121 is down-converted to a complex baseband signal by the IQ mixer 122. The respective baseband signals D and E down-converted by the first mixer 123 and the second mixer 124 are input to the A / D conversion unit 131 of the baseband unit 130 via the signal lines d and e, where they are digitally converted. Converted to a signal. The digital signal is subjected to complex signal processing in the digital signal processing unit 132, and position information and relative velocity information related to the object T are calculated.

  The control lines a, b, c and the signal lines d, e shown in FIG. 1 are connected between the high frequency substrate 103 and the low frequency substrate 104 by a connector 105. Since each pin (terminal) of the connector 105 is exposed, a signal flowing through each terminal is at a minute level, but it wraps around and interferes with other terminals. Control signals A, B, and C that flow through the control lines a, b, and c are signals for driving on / off the RF components (the first gate unit 112, the second gate unit 113, and the correlator 121), for example, It has a signal intensity of about 2 to 3 [V]. On the other hand, the baseband signals D and E flowing through the signal lines d and e are signals obtained by down-converting a signal having a low signal intensity reflected from the object T, and are signals having a very low intensity. Therefore, the control signals A, B, and C are signals having a very high intensity compared to the baseband signals D and E, and the signal lines d and e are transmitted from the control lines a, b, and c in the connector 105. The control signals A, B, and C leak out.

  The above control lines and signal lines in the pulse radar apparatus 100 are enlarged and shown in FIG. In the figure, in the connector 105, signals sneaking from the control lines a, b, c to the signal lines d, e are interference noise signals α, β, γ, respectively. The interference noise signals α, β, and γ are signals having substantially the same intensity as the baseband signals D and E that pass through the signal lines d and e. In FIG. 4, self-mixing noise output from the oscillator 111, passing through the IQ mixer 122, reflected by the correlator 121, and down-converted again by the IQ mixer 122 is indicated by a symbol δ. This self-mixing noise δ is also mixed in the baseband signals D and E.

  In the pulse radar apparatus 100 according to the present embodiment, in order to create in advance a replica signal of unnecessary waves including the above-described noises mixed in the baseband signals D and E, the control line a , B, c, the first gate unit 112, the second gate unit 113, and the correlator 121 are operated at an appropriate timing. The obtained unnecessary wave replica signal is stored in the storage unit 134, and each noise is removed by subtracting the replica signal from the baseband signals D and E obtained by down-converting the received signal when the target T is detected. To do.

  Hereinafter, a method of creating an unnecessary wave replica signal will be described with reference to FIGS. 5-7 is a figure which shows an example of the noise signal and replica signal which are acquired by the control method of the pulse radar apparatus of this embodiment. In the present embodiment, when a replica signal of unnecessary waves is created, transmission radio waves are not radiated from the transmission antenna 101.

  In this embodiment, the replica signal is generated by two radar operations. In the two radar operations, two control signals A and B are output one by one so that the transmission radio waves are not radiated in each. Further, in the radar operation that outputs one of the two control signals A and B, the third control signal C is not output, and the output of the carrier wave from the oscillator 111 is also stopped. By stopping the output of the carrier wave, the self-mixing noise δ can be prevented from being generated. Thereby, only the noise signal from one of the two control signals A and B can be acquired. In the following, a case will be described as an example where a replica signal is created from two radar operations: a radar operation in which only the control signal A is not output and a radar operation in which only the control signal A is output.

  First, the control unit 133 outputs the control signals B and C without outputting only the control signal A, flows them through the control lines b and c, and operates the radar with the carrier wave output from the oscillator 111. As a result, the noise signal (β + γ + δ) obtained by synthesizing the self-mixing noise δ and the interference noise signals β and γ mixed with the control signals B and C in the signal lines d and e are input to the digital signal processing unit 132. The The noise signal (β + γ + δ) is signal-processed by the digital signal processing unit 132 to obtain a noise signal as shown in FIG. FIG. 5 is a diagram illustrating an example of a time waveform of the noise signal (β + γ + δ). The noise signal (β + γ + δ) obtained by processing by the digital signal processing unit 132 is stored in the storage unit 134 as a first background signal.

  Next, only the control signal A is output from the control unit 133 to flow through the control line a, and the output of the control signals B and C is stopped. Further, the output of the carrier wave from the oscillator 111 is also stopped to operate the radar. As a result, the digital signal processing unit 132 receives a noise signal of only the interference noise signal α in which the control signal A is mixed in the signal lines d and e. The noise signal α is signal-processed by the digital signal processing unit 132 to obtain a noise signal as shown in FIG. FIG. 6 is a diagram illustrating an example of a time waveform of the noise signal α. The noise signal α obtained by processing by the digital signal processing unit 132 is used as a second background, which is added to the noise signal (β + γ + δ) stored in the storage unit 134 and stored.

By adding the noise signal (β + γ + δ) and the noise signal α in the above two radar operations, a noise signal combining all unnecessary waves as in the following equation is calculated.
(Β + γ + δ) + α = α + β + γ + δ
As described above, the storage unit 134 stores a replica signal (α + β + γ + δ) of a noise signal obtained by combining the interference noise signals α, β, γ, and the self-mixing noise δ. The time waveform of the replica signal (α + β + γ + δ) is obtained by adding the time waveform of FIG. 5 and the time waveform of FIG. An example of a time waveform of the replica signal (α + β + γ + δ) is shown in FIG.

  In the following, a method of creating an unnecessary wave replica signal in advance using the flowchart shown in FIG. 8 and correcting it will be described. FIG. 8 is a flowchart for explaining the control method of the pulse radar device of the present embodiment. In the present embodiment, when a replica signal of unnecessary waves is created, transmission radio waves are not radiated from the transmission antenna 101.

  First, in step S1, it is determined whether or not the use of the pulse radar device 100 is started. When it is determined that the use is started, the process proceeds to step S2, whereas when it is determined that the pulse radar apparatus 100 is already used, the process proceeds to step S10. In step S2, the output is stopped so that the control signal A is not output from the control unit 133. Next, the radar is operated in step S3. At this time, control signals B and C are output from the control unit 133 and flow through the control lines b and c. A carrier wave is output from the oscillator 111. By such radar operation, the noise signal (β + γ + δ) of the first background signal is input to the digital signal processing unit 132. In step S4, the noise signal (β + γ + δ) is signal-processed by the digital signal processing unit 132, and stored in the storage unit 134 in step S5.

  In the next step S6, the output of both control signals is stopped so that the control signals 133 are not output from the control unit 133. Further, the output of the carrier wave from the oscillator 111 is also stopped. Next, the radar is operated in step S7. At this time, only the control signal A is output from the control unit 133 and flows through the control line a. Further, no carrier wave is output from the oscillator 111. By such radar operation, the noise signal α of the second background signal is input to the digital signal processing unit 132. In step S8, the noise signal α is signal-processed by the digital signal processing unit 132, added to the noise signal (β + γ + δ) stored in the storage unit 134 in step S9, and stored.

  Through the above two radar operations, the noise signal (β + γ + δ) is added to the noise signal (β + γ + δ), and the noise signal (α + β + γ + δ) obtained by adding all unnecessary waves is calculated. The storage unit 134 stores a replica signal (α + β + γ + δ) of a noise signal obtained by synthesizing the interference noise signals α, β, γ, and the self-mixing noise δ.

  On the other hand, when it is determined in step S1 that the pulse radar device 100 is already in use, the radar is operated in step S10. At this time, control signals A, B, and C are output from the control unit 133 and flow through the control lines a, b, and c, respectively. A carrier wave is output from the oscillator 111. A transmission signal is generated by the high frequency control unit 110 by the radar operation, and is radiated from the transmission antenna 101 as a radio wave. Then, the reflected wave reflected by the object T is received by the receiving antenna 102. A reception signal received by the reception antenna 102 is down-converted to a baseband signal by the high frequency reception unit 120 and transmitted to the A / D conversion unit 131 via the connector 105.

  The baseband signal input to the A / D converter 131 is converted into a digital signal here and then transmitted to the digital signal processor 132. The digital signal transmitted to the digital signal processing unit 132 includes a noise signal (α + β + γ + δ) mixed by the connector 105 or the like. In step S <b> 11, the digital signal obtained from the received signal is processed by the digital signal processing unit 132. Thereby, the signal as shown in FIG. 3 in which the interference noise signal 11 and the self-mixing noise 12 are mixed into the signal 10 is obtained.

  In step S12, the replica signal (α + β + γ + δ) is read from the storage unit 134, and in step S13, the replica signal (α + β + γ + δ) is subtracted from the signal processed by the digital signal processing unit 132. Thereby, the signal 10 as shown in FIG. 2 is obtained. Based on the signal 10, the distance L to the target T and the relative speed are calculated in step S14.

  In the present embodiment, in order to calculate the relative speed by the processing of the digital signal processing unit 132, complex signal processing (FFT processing) is performed on the input signal to calculate the Doppler component of the target object. Since all of the noise signals generated in the pulse radar apparatus 100 described above are stationary noises, none of the noise signals α, β, γ, and δ contains a Doppler component, and the relative speed is zero. There is only a corresponding 0 [Hz] component.

  Thus, the noise signal data obtained by the processing of the digital signal processing unit 132 in steps S4 and S8 is only the noise signal of the 0 [Hz] component corresponding to the relative speed 0, and is stored in the storage unit 134 in step S9. The Fourier transform data of the replica signal (α + β + γ + δ) is also only a 0 [Hz] component corresponding to a relative speed of 0. Therefore, in step S13, the replica signal (α + β + γ + δ) is subtracted only from the 0 [Hz] component obtained by performing complex signal processing on the signal input from the A / D converter 131.

  When there is no need to measure the relative speed of the object, the digital signal processing unit 132 does not need to perform the FFT process, and only determines whether the signal of the object is detected in each distance gate. You may let them. Further, even when it is not necessary to measure the relative speed of the object, the digital signal processing unit 132 performs the above FFT processing to improve the S / N ratio, and the signal of the object is detected in each distance gate. It may be judged only whether or not. Also in these cases, low noise is obtained by subtracting the corresponding distance gate data of the replica signal (α + β + γ + δ) from the data of each distance gate obtained when the control signals A, B, and C are output from the control unit 133. Since a signal is obtained, it is possible to reliably detect an object based on the signal.

  In the flowchart shown in FIG. 8, the replica signal (α + β + γ + δ) is created when the pulse radar device 100 starts to be used (when the power is turned on). A replica signal (α + β + γ + δ) may be generated. During use of the pulse radar device 100, for example, the temperature in the device rises and the replica signal may slightly change. Therefore, the radar performance of the pulse radar device 100 can be further improved by periodically recreating the replica signal even when the pulse radar device 100 is in use.

  As described above, according to the pulse radar apparatus of the present invention, it is possible to detect information on an object with high accuracy by creating a replica signal of a noise signal in advance and removing it from the received signal. . In the pulse radar device of the present invention, a low-cost low-frequency substrate can be used for a baseband portion having a low operating frequency, and a low-frequency substrate and a high-frequency substrate are conventionally used. Can be connected using a general-purpose connector. This makes it possible to provide a small and low-cost pulse radar device.

(Second Embodiment)
A control method of the pulse radar device according to the second embodiment of the present invention will be described below with reference to FIGS. 9 and 10 are diagrams illustrating examples of noise signals acquired by the control method of the pulse radar device according to the present embodiment. Also in the present embodiment, the replica signal is created by two radar operations, but the control signal output by each is different from the first embodiment.

  In the present embodiment, one of the two radar operations for creating the replica signal is such that the control signals A and B for operating the high-frequency transmitter 110 are simultaneously output and sent to the control lines a and b. The radar is operated in a state where the control signal C for operating 121 is not output and the output of the carrier wave from the oscillator 111 is also stopped. As a result, the noise signal (α + β) composed of the respective interference noise signals α and β in which the control signals A and B are mixed in the signal lines d and e are input to the digital signal processing unit 132. The noise signal (α + β) is signal-processed by the digital signal processing unit 132 to obtain a noise signal as shown in FIG. FIG. 9 is a diagram illustrating an example of a time waveform of the noise signal (α + β). The noise signal (α + β) obtained by processing by the digital signal processing unit 132 is stored in the storage unit 134 as a second background signal.

  In another one of the two radar operations, the control signals A and B are not output, the control signal C is output and sent to the control line c, and the carrier wave is output from the oscillator 111. Operate the radar. Thus, the interference signal γ in which the control signal C is mixed into the signal lines d and e and the noise signal (γ + δ) obtained by synthesizing the self-mixing noise δ are input to the digital signal processing unit 132. The noise signal (γ + δ) is signal-processed by the digital signal processing unit 132 to obtain a noise signal as shown in FIG. FIG. 10 is a diagram illustrating an example of a time waveform of the noise signal (γ + δ). The noise signal (γ + δ) obtained by processing by the digital signal processing unit 132 is set as the first background, and this is added to the noise signal (α + β) stored in the storage unit 134 and stored.

  By the way, when the oscillator cannot be stopped, one of the two radar operations for creating the replica signal outputs two control signals A and B to be output to the high-frequency transmitter 110 at the same time. At this time, the control signal C is not output. As a result, a transmission signal is generated by the high-frequency transmission unit 110 and is radiated as a radio wave from the transmission antenna 101. When a radio wave is radiated and there is an object within the detection distance, it is received by the receiving antenna 102 and output to the digital signal processing unit 132. Therefore, the received signal and the noise signal are added, and only the noise signal is obtained. It can no longer be acquired.

  However, when there is no object within the detection distance, the intensity of the received signal is low, which is not a problem. Even when there is an object, the control signal C is not output and the correlator 121 does not operate. Therefore, the digital signal output to the digital signal processing unit 132 is a signal that is greatly attenuated and has a very low intensity. Yes. Although the accuracy of the replica signal created in the present embodiment is slightly lower than that created without radiating radio waves, a replica signal sufficient to increase the accuracy of the object information can be acquired. In addition to this, the control signals A and B can be output to the high-frequency transmission unit 110 by the same control method as in the case of detection of object information, and the control at the time of replica signal creation is facilitated. Can do.

By adding the second background noise signal (α + β) and the first background noise signal (γ + δ) in the above two radar operations, the noise is the sum of all unnecessary waves as in the following equation. A signal is calculated.
(Α + β) + (γ + δ) = α + β + γ + δ
As described above, the storage unit 134 stores a replica signal (α + β + γ + δ) of a noise signal obtained by combining the interference noise signals α, β, γ, and the self-mixing noise δ. The time waveform of the replica signal (α + β + γ + δ) can be obtained by adding the time waveform of FIG. 9 and the time waveform of FIG. 10 to the one illustrated in FIG.

  In the following, a method of creating an unnecessary wave replica signal in advance using the flowchart shown in FIG. FIG. 8 is a flowchart for explaining the control method of the pulse radar device of the present embodiment. In the following, processing different from the first embodiment will be mainly described.

  When it is determined that the use of the pulse radar device 100 is started in step S1, the output is stopped so that the control signal C is not output from the control unit 133 in step S22, and the output of the carrier wave from the oscillator 111 is also stopped. . Thereby, in step S24, the noise signal (α + β) is signal-processed by the digital signal processing unit 132, and stored in the storage unit 134 in step S25. In the next step S26, the output is stopped so that the control signals A and B are not output from the control unit 133. The oscillator 111 outputs a carrier wave. Thereby, in step S28, the noise signal (γ + δ) is signal-processed by the digital signal processing unit 132, and stored in the storage unit 134 in step S29.

  By the above two radar operations, the noise signal (γ + δ) is added to the noise signal (α + β), and a replica signal (α + β + γ + δ) of the noise signal obtained by adding all unnecessary waves is stored in the storage unit 134. As described above, the replica signal can also be created by two radar operations in this embodiment.

  In the pulse radar device 100 of the above embodiment, one transmission / reception antenna is provided, but the present invention is not limited to this. For example, a pulse radar device that measures the phase angle by the phase monopulse method needs to have two receiving antennas. In such a pulse radar device, a replica signal of a noise signal is created and received in the same manner. It can be removed from the signal.

  In the pulse radar apparatus and the control method thereof according to the above embodiment, a carrier wave may be output from an oscillator or a carrier wave may not be output when a background signal is acquired. Among these, when the carrier wave is output from the oscillator, if there is an object (reflecting object) outside, the reflected signal is received and an error occurs in the replica signal, but the error is small and the object information is small. There is no particular problem with detection.

  Note that the description in the present embodiment shows an example of the pulse radar apparatus and the control method thereof according to the present invention, and the present invention is not limited to this. The detailed configuration and detailed operation of the pulse radar device and its control method in the present embodiment can be changed as appropriate without departing from the spirit of the present invention.

100, 200 Pulse radar apparatus 101 Transmission antenna 102, 210 Reception antenna 103 High frequency substrate 104 Low frequency substrate 105 Connector 110 High frequency transmission unit 111 Oscillator 112 First gate unit 113 Second gate unit 120 High frequency reception unit 121 Correlator 122 IQ Mixer 123 First mixer 124 Second mixer 125 Phase shifter 130 Baseband unit 131 A / D conversion unit 132 Digital signal processing unit 133 Control unit 134 Storage unit 211 First antenna 212 Second antenna 213 Hybrid circuit 214 Switch

Claims (22)

A high frequency generator having an oscillator for generating a carrier wave of a predetermined frequency, cutting out the carrier wave in a pulse shape according to two or more transmission control signals, and generating a transmission signal when all of the two or more transmission control signals are output A transmission unit;
A transmission antenna that inputs the transmission signal from the high-frequency transmission unit and radiates it into space as a radio wave;
A receiving antenna that receives a reflected wave in which the radio wave is reflected by an object;
A high-frequency receiving unit that inputs a reception signal from the reception antenna and correlates with the transmission signal according to a reception control signal and converts it to a baseband signal;
An A / D converter that inputs at least the baseband signal and converts it to a digital signal, and a distance to the object and / or a relative speed of the object that receives the digital signal from the A / D converter And / or a digital signal processing unit that calculates an azimuth angle of the object, and a control unit that outputs the transmission control signal to the high-frequency transmission unit and outputs the reception control signal to the high-frequency reception unit. A baseband portion having,
The digital signal processor is
Output from the A / D conversion unit when a part or all of the two or more transmission control signals are not output from the control unit and other transmission control signals and reception control signals are output. A digital signal output from the A / D converter when only a part or all of the transmission control signals are output from the control unit. Obtaining a second background signal, calculating a replica signal by adding the first background signal and the second background signal,
A digital signal output from the A / D converter when all of the two or more transmission control signals and the reception control signal are output from the control unit and a carrier wave is output from the oscillator. Subtract the replica signal from the low noise signal,
A pulse radar device, wherein a distance to the object and / or a relative speed of the object and / or an azimuth angle of the object are calculated based on the low noise signal. The carrier wave from the oscillator is output when the first background signal is acquired, and the carrier wave output from the oscillator is stopped when the second background signal is acquired. The pulse radar device according to 1. 2. The pulse radar device according to claim 1, wherein a carrier wave from the oscillator is output both when the first background signal is acquired and when the second background signal is acquired. The digital signal processing unit performs a Fourier transform process on the digital signal input from the A / D conversion unit,
A digital signal output from the A / D converter when all of the two or more transmission control signals and the reception control signal are output from the control unit and a carrier wave is output from the oscillator. 4. The pulse radar according to claim 1, wherein the low noise signal is calculated by subtracting a Fourier component corresponding to 0 Hz of the replica signal from a Fourier component corresponding to 0 Hz. apparatus. At least the baseband portion is formed on a first substrate, and the high-frequency transmitter and the high-frequency receiver are formed on a substrate different from the first substrate,
A connection part of a multi-pin connector that collectively connects the signal line for transmitting the baseband signal and the respective control lines for transmitting the two or more transmission control signals and the reception control signal to the energized state. The control line is provided between the one board and the other board, and the control line in the connection part is such that the level of a leakage signal from the control line to the signal line falls within the dynamic range of the A / D converter. 5. The pulse radar device according to claim 1, wherein the connection of the signal line and the connection of the signal line are separated from each other. 6. The high-frequency transmission unit generates a transmission signal by further cutting out a first gate unit that cuts the carrier wave in a pulse shape according to a first control signal, and a signal cut out by the first gate unit according to a second control signal A second gate portion that
The high-frequency receiving unit receives the reception signal from the reception antenna and correlates with the transmission signal according to a third control signal, and down-converts the output signal from the correlation unit to baseband, A down-conversion unit that outputs a baseband signal,
The control unit outputs the first control signal, the second control signal, and the third control signal to the first gate unit, the second gate unit, and the correlation unit, respectively, and turns on the respective power supplies. Control / off,
The digital signal processor is
2. The replica signal is calculated using the two or more transmission control signals as the first control signal and the second control signal and using the reception control signal as the third control signal. The pulse radar device according to any one of 1 to 5. The digital signal processor is
A digital signal output from the A / D converter when one of the first control signal and the second control signal is not output from the control unit and the other and the third control signal is output. The digital signal output from the A / D conversion unit when the control unit outputs only one of the first control signal and the second control signal is the first background signal. The pulse radar device according to claim 6, wherein the replica signal is calculated as a second background signal. The digital signal processor is
The digital signal output from the A / D converter when the first control signal and the second control signal are not output from the control unit and the third control signal is output is the first control signal. The second background signal is a digital signal output from the A / D converter when only the first control signal and the second control signal are output from the control unit as a background signal. The pulse radar device according to claim 6, wherein the replica signal is calculated as: The carrier wave from the oscillator is output when the first background signal is acquired, and the carrier wave output from the oscillator is stopped when the second background signal is acquired. The pulse radar device according to 7 or 8. 9. The pulse radar device according to claim 7, wherein a carrier wave from the oscillator is output both when the first background signal is acquired and when the second background signal is acquired. The digital signal processing unit outputs the A / D signal when the first control signal, the second control signal, and the third control signal are output from the control unit and a carrier wave is output from the oscillator. 7. The low noise signal is calculated by subtracting a Fourier component corresponding to 0 Hz of the replica signal from a Fourier component corresponding to 0 Hz of the digital signal output from the conversion unit. The pulse radar device according to claim 1. The baseband part is formed on a low frequency substrate corresponding to the operating frequency band of the baseband part,
The high frequency transmitter and the high frequency receiver are formed on a high frequency substrate corresponding to an operating frequency band of the high frequency transmitter and the high frequency receiver,
A signal line for transmitting the baseband signal, and a first control line, a second control signal, and a third control line for transmitting the first control signal, the second control signal, and the third control signal, respectively. A connection portion of a multi-pin connector that is connected in an energized state is provided between the low-frequency board and the high-frequency board, and the level of a leakage signal from the control line to the signal line is the A / D The connection of the control line and the connection of the signal line are arranged separately in the connection unit so as to fall within the dynamic range of the conversion unit. The pulse radar device described. A carrier wave generating step for generating a carrier wave of a predetermined frequency;
A signal extracting step of generating a transmission signal by extracting the carrier wave in a pulse shape according to two or more transmission control signals;
A transmission step of radiating the transmission signal as a radio wave to space;
A reception step of receiving a reflected wave in which the radio wave is reflected by an object;
A correlation step for correlating the reception signal received in the reception step with the transmission signal in accordance with a reception control signal;
A down-conversion step of down-converting the output signal of the correlation step into a baseband and outputting a baseband signal;
At least an A / D conversion step of inputting the baseband signal and converting it into a digital signal;
A digital signal processing step of inputting the digital signal and calculating a distance to the object and / or a relative speed of the object and / or an azimuth angle of the object;
Have
In the digital signal processing step,
When the signal extraction step outputs part or all of the two or more transmission control signals without outputting the other transmission control signals and the correlation step outputs the reception control signals. A digital signal obtained in the A / D conversion step is acquired as a first background signal, and obtained in the A / D conversion step when only a part or all of the transmission control signals are output in the signal extraction step. A digital signal is obtained as a second background signal, a replica signal is calculated by adding the first background signal and the second background signal, and the two or more signals are extracted in the signal extraction step. The entire transmission control signal is output, and the reception control signal is output in the correlation step and the carrier wave generation step is performed. Sometimes the low noise signal is calculated by subtracting the replica signal from the digital signal obtained in the A / D conversion step, the distance to the object and / or the relative speed of the object based on the low noise signal And / or calculating the azimuth angle of the object. The pulse radar device according to claim 13, wherein the carrier wave generating step is performed when the first background signal is acquired, and the carrier wave generating step is not performed when the second background signal is acquired. Control method. 14. The method of controlling a pulse radar device according to claim 13, wherein the carrier wave generation step is performed both when the first background signal is acquired and when the second background signal is acquired. In the digital signal processing step, the digital signal converted in the A / D conversion step is subjected to Fourier transform processing,
Obtained in the A / D conversion step when all of the two or more transmission control signals are output in the signal extraction step and the reception control signal is output in the correlation step and the carrier wave generation step is performed. 16. The low noise signal is calculated by subtracting a Fourier component corresponding to 0 Hz of the replica signal from a Fourier component corresponding to 0 Hz of a digital signal. Control method of pulse radar device. The signal cut-out step generates a transmission signal by further cutting out the signal cut out in the first cut-out step according to the first control signal and the signal cut out in the first cut-out step according to the second control signal. A cutting step, and
In the correlation step, the reception signal and the transmission signal are correlated according to a third control signal,
In the digital signal processing step,
14. The replica signal is calculated using the two or more transmission control signals as the first control signal and the second control signal and using the reception control signal as the third control signal. 17. The method for controlling a pulse radar device according to any one of items 1 to 16. In the digital signal processing step,
In the A / D conversion step, when either the first control signal or the second control signal is not output in the signal cutting step and the other is output and the third control signal is output in the correlation step The digital signal obtained in the A / D conversion step when the obtained digital signal is the first background signal and only one of the first control signal and the second control signal is output in the signal extraction step. The pulse radar device control method according to claim 17, wherein the replica signal is calculated using a signal as the second background signal. In the digital signal processing step,
The digital signal obtained in the A / D conversion step when both the first control signal and the second control signal are not output in the signal cutting step and the third control signal is output in the correlation step is A digital signal obtained in the A / D conversion step when only the first control signal and the second control signal are output in the signal cutting step as the first background signal is used as the second background signal. The method of controlling a pulse radar device according to claim 17 , wherein the replica signal is calculated as a signal. The pulse according to claim 18 or 19, wherein the carrier wave generation step is performed when the first background signal is acquired, and the carrier wave generation step is not performed when the second background signal is acquired. Control method of radar device. 20. The method of controlling a pulse radar device according to claim 18, wherein the carrier wave generation step is performed both when the first background signal is acquired and when the second background signal is acquired. The low noise signal is obtained by subtracting a Fourier component corresponding to 0 Hz of the replica signal from a Fourier component corresponding to 0 Hz of the digital signal when the first cutting step, the second cutting step and the correlation step are executed. The method of controlling a pulse radar device according to any one of claims 17 to 21 , wherein the method is calculated.

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